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otential and Kinetic Shaping for Control of Underactuated Mechanical Systems Anthony M

Bloch Department of Mathematics University of Michigan Ann Arbor MI 48109 email ablochumichedu Dong Eui Chang Control and Dynamical Systems 10781 California Institute of Technology asadena CA 91125 email dchangcdscaltechedu Naomi Ehrich Leonard Mech

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otential and Kinetic Shaping for Control of Underactuated Mechanical Systems Anthony M






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